Multiple robot system

ABSTRACT

The present invention relates generally to film wrapping or packaging systems, and more particularly to a new and improved robotic film wrapping or packaging system which is not only substantially entirely automatic in its operation except for its initialization or START procedure, but in addition, a single programmable logic controller (PLC) can control the cyclic operations of one or more film wrapping or packaging robots.

CROSS REFERENCE TO RELATED PATENT APPLICATION

This patent application is related to, based upon, and effectively autility/non-provisional patent application conversion from U.S.Provisional Patent Application Ser. No. 61/573,140, which was filed onSep. 12, 2011, the filing date benefits of which are hereby claimed, andU.S. Provisional Patent Application Ser. No. 61/687,575 which was filedon Apr. 27, 2012, the filing date benefits of which are also herebyclaimed.

FIELD OF THE INVENTION

The present invention relates generally to film wrapping or packagingsystems, and more particularly to a new and improved robotic filmwrapping or packaging system which is not only substantially entirelyautomatic in its operation, except for its initialization or STARTprocedure, but in addition, a single programmable logic controller (PLC)can control the cyclic operations of multiple film wrapping or packagingrobots.

BACKGROUND OF THE INVENTION

Various different film wrapping or packaging systems are of course wellknown. For example, as disclosed within U.S. Pat. No. 7,707,802 whichissued to Forrest on May 4, 2010, several different types ofconventional film wrapping or packaging systems are disclosed. Moreparticularly, in FIG. 1 of the patent, there is disclosed a well-knownfilm wrapping or packaging system wherein a palletized load is placedupon a rotary turntable, and as the palletized load is rotated by meansof the turntable, the load is wrapped within the film packagingmaterial. In FIG. 2 of the patent, a palletized load is disposed at apackage wrapping station, and a rotary arm, carrying a carriage with aroll of packaging film mounted thereon, rotates around the palletizedload thereby wrapping the same within the film packaging material. InFIG. 3 of the patent, a palletized load is like-wise disposed at apackage wrapping station defined internally within an upstandingframework, and a carriage, carrying a roll of packaging film, is rotatedaround a ring member, thereby wrapping the packaging film around thepalletized load. Still further, as can be appreciated from FIG. 1 of thepresent patent application drawings, a conventional film wrapping orpackaging robot 100 is disclosed. The robot 100 is seen to comprise amotorized unit or vehicle 102 having a suitable drive motor, not shown,operatively connected to a pair of wheels 104,104, the inside wheel 104being the drive wheel such that the robot 100 can effectivelycircumnavigate around a palletized load disposed at a package wrappingstation. The robot 100 is also seen to comprise an upstanding mast 106upon which a support arm 108 is pivotally mounted. A suitable actuator110 is operatively connected to the a first proximal end of the supportarm 108, while the second opposite or distal end of the support arm 108has a film roll housing 112 mounted thereon. A roll of packaging film114 is rotatably mounted upon a spindle, not visible, mounted upon thefilm roll housing 112. As can thus be readily appreciated, when theactuator 110 is effectively retracted, the first end of the support arm108 is caused to move downwardly thus elevating the second opposite endof the support arm 108 so as to accordingly elevate or raise the filmroll housing 112 and the roll of packaging film 114. Conversely, whenthe actuator 110 is extended, the first end of the support arm 108 willbe elevated so as to cause the film roller housing 112 and the roll ofpackaging film 114 to be lowered. The different elevational levels ofthe film roll housing 112 and the packaging film 114 can be accordinglycontrolled so as to achieve desired wrapping or packaging of thepalletized load in accordance with predetermined wrapping or packagingpatterns.

While such a conventional film wrapping or packaging robot operatessatisfactorily, such robots can be improved so as to enhance theefficiency of the overall wrapping or packaging operations. For example,with the conventional robot, an operator must initially secure theleading end of the wrapping or packaging film to the palletized loadbefore initiating the operation of the robot to commence the filmwrapping or packaging operation. In addition, since only one robot canwrap a palletized load at a particular location or wrapping station, andwhile it is possible to establish multiple wrapping stations at whichmultiple robots are respectively disposed so as to individually performtheir film wrapping or packaging operations, each robot requires anoperator for securing the leading end of each wrapping or packaging filmto its respective palletized load, or alternatively, the same operatorneeds to effectively service the multiple robots in a serial manner. Inaccordance with the first mode of operation, additionalmanpower/operators are of course required to service the multiplicity ofrobots, whereas in accordance with the second mode of operation, anincreased amount of time is required for the same operator to seriallyservice the multiple robots. Still yet further, it often happens thatwhen a robot completes its entire film packaging or wrapping operation,comprising, for example, a predetermined number of film layers wrappedaround the lower part of the palletized load and a predetermined numberof film layers wrapped around the upper part of the palletized load, therobot may conclude its entire film packaging or wrapping operation at acircumferential location, relative to the palletized load, which isdifferent from the circumferential location at which the robot alwaysstarts the film packaging or wrapping operation. Additional time, oroperator control or intervention, is therefore effectively required torelocate the robot to its next load START or HOME position.

A need therefore exists in the art for a new and improved robot systemwhich comprises the use of multiple film wrapping or packaging robots,wherein the system is substantially entirely automatic, except forinitiating the actual START of the robots, all of the multiple robotscan be controlled by a single or central controller, and the robots willautomatically return to their START or HOME positions at which theynormally start the film packaging or wrapping operation.

SUMMARY OF THE INVENTION

The foregoing and other objectives are achieved in accordance with theteachings and principles of the present invention through the provisionof a new and improved multiple robot system which comprises amultiplicity of film packaging or wrapping robots wherein themultiplicity of robots are adapted to circumnavigate their respectivepalletized loads in order to package or wrap the same within packagingor wrapping film, and wherein further, the multiplicity of robots areindividually wirelessly connected to a single programmable logiccontroller (PLC). In this manner, when the operator initiates a STARTcommand, such as, for example, by pushing a START button on the controlpanel of the programmable logic controller (PLC), the multiplicity ofrobots will be simultaneously actuated so as to perform their filmwrapping or packaging operations. Each robot is individually programmedso as to wrap or package its particular palletized load in accordancewith a predetermined film packaging or wrapping pattern. Such apackaging or wrapping pattern may include, for example, a predeterminednumber of layers of film to be wrapped around the bottom of thepalletized load, a predetermined number of layers of film to be wrappedaround the top of the palletized load, the speed at which each robotoperates to wrap or package the palletized load, the inclusion of anyoverlap or overwrap sections of the packaging or wrapping film, and thelike. In addition, as a result of the two-way communication effectivelyestablished between the multiple robots and the programmable logiccontroller (PLC), at the conclusion of a particular film packaging orwrapping operation, the individual robot will know its position relativeto the palletized load and relative to its original HOME or STARTposition whereby the robot will automatically navigate back to its STARTor HOME position so as to in fact be ready to commence a new filmpackaging or wrapping operation. Still yet further, each one of therobots is provided with a new mechanism or system for automaticallysevering the packaging or wrapping film at the conclusion of a packagingor wrapping cycle, for retaining the leading end of the packaging orwrapping film upon the severing mechanism in preparation for a newpackaging or wrapping cycle, and for attaching the leading end of thepackaging or wrapping film to the palletized load without requiring anoperator to perform this function.

BRIEF DESCRIPTION OF THE DRAWINGS

Various other features and attendant advantages of the present inventionwill be more fully appreciated from the following detailed descriptionwhen considered in connection with the accompanying drawings in whichlike reference characters designate like or corresponding partsthroughout the several views, and wherein:

FIG. 1 is a perspective view of a first conventional PRIOR ART robotcurrently used in connection with the packaging or wrapping ofpalletized loads within packaging or wrapping film;

FIG. 2 is a perspective view of a second conventional PRIOR ART robotwhich is similar to the conventional PRIOR ART robot illustrated withinFIG. 1 and which is to be modified in accordance with the principles andteachings of the present invention so as to provide the film packagingor wrapping robot industry with a new and improved robot which iscapable of achieving the objectives of the present invention;

FIG. 3 is a perspective view of the second conventional PRIOR ART robotas shown in FIG. 2 but from a different perspective orientation suchthat different component parts of the robot are visible;

FIG. 4 is a perspective view of a first embodiment of a new and improvedrobot, similar to the second conventional PRIOR ART robot which isillustrated within FIGS. 2 and 3, but which has been modified so as toinclude new structural features which will enable the new and improvedrobot to operate fully automatically once the operator has initiated aSTART control signal;

FIG. 5 is a perspective view of the new and improved robot asillustrated within FIG. 4 but from a different perspective orientationsuch that the new structural features thereof can be seen better andtherefore be better appreciated;

FIG. 6 is a schematic drawing illustrating the disposition of amultitude of robots, such as, for example, three robots, as moreparticularly disclosed within FIGS. 4 and 5, wherein the multitude ofrobots can be controlled by means of a single controller such as, forexample, a programmable logic controller (PLC);

FIG. 7 is a perspective view of a second embodiment of a new andimproved robotic film packaging or wrapping system as constructed inaccordance with the principles and teachings of the present invention;

FIG. 8 is an enlarged view of the robotic film packaging or wrappingsystem as disclosed within FIG. 7, illustrating in greater detail thedual guide wheel system and the adhesive strip or adhesive tapedispensing mechanism as mounted upon the support arm of the robotvehicle;

FIG. 9 is an enlarged view of the adhesive strip or adhesive tapedispensing mechanism, in particular, the mounting of the adhesive stripor adhesive tape dispensing gun shown in its locked position upon thegun support plate;

FIG. 10 is an enlarged view of the adhesive strip or adhesive tapedispensing mechanism, in particular, the mounting of the adhesive stripor adhesive tape dispensing gun shown, as shown in FIG. 8, however, thegun is now shown in its unlocked position upon the gun support plate;

FIG. 11 is a perspective view of a proximity sensor utilized inconjunction with the robot in order to ensure that the robot vehicle, ofthe robotic film packaging or wrapping system, is able to return to itsoriginal HOME or START position at the conclusion of a particular filmpackaging or wrapping operation in preparation for the commencement of anew film packaging or wrapping operation;

FIG. 12 is a top perspective view of the proximity counter utilized inconjunction with one of the film feed rollers in order for personnel toknow how much film has been used;

FIG. 13 is a vertical perspective view of the film clamping and cuttingmechanism for severing the wrapping or packaging film thereby forming atrailing end portion of the wrapped film which will self-adhere to thepalletized load, and a leading end portion of the packaging or wrappingfilm which will be retained in preparation for a new film wrapping orpackaging cycle, wherein the film clamping and cutting mechanism hasbeen rotated from its horizontally oriented position to its verticalorientation;

FIG. 14 is a vertical perspective view of the film clamping and cuttingmechanism as shown in FIG. 13, FIG. 14 more clearly showing the spatialrelationship between the film clamping and cutting mechanism withrespect to the two blocks of foam material when the film clamping andcutting mechanism is disposed in its vertical orientation;

FIG. 15 is front perspective view of the film clamping and cuttingmechanism as shown in FIGS. 13 and 14, FIG. 15 clearly illustrating themovement of the film clamping and cutting mechanism to its retentionposition at which it retains the leading end portion of the packaging orwrapping film in preparation for a new film wrapping or packaging cycleafter the trailing end portion of the previous film wrapping orpackaging cycle has been severed;

FIG. 16 is a perspective view of the actuator assembly, for the filmclamping and cutting mechanism illustrated within FIGS. 13-15, whereinthe actuator assembly is disposed at its de-actuated disposition;

FIG. 17 is a perspective view of the actuator assemsembly, for the filmclamping and cutting mechanism illustrated within FIGS. 13-15, whereinthe actuator assembly is disposed at its actuated disposition;

FIG. 18 is a perspective view illustrating the trailing end of the robotvehicle of the robotic film packaging or wrapping system, illustratingthe mounting of the roll of packaging or wrapping film upon the robotvehicle, as well as the film clamping and cutting mechanism illustratedwithin FIGS. 13-17 and the actuator assembly for moving the filmclamping and cutting mechanism toward and away from the palletized load;

FIG. 19 is a front elevational view showing the use of an auxiliary oradditional bumper pad secured to the large block of memory foam in orderto ensure a sufficient amount of engagement of pressure is effectivelyimpressed upon the leading end portion of the wrapping or packaging filmwhen being applied to a side wall portion of the palletized load;

FIG. 20 is a perspective view of a third embodiment of a new andimproved robotic film packaging or wrapping system as constructed inaccordance with the principles and teachings of the present invention;

FIG. 21 is a perspective view, similar to that of FIG. 20 but from adifferent angular perspective, of the third embodiment of a new andimproved robotic film packaging or wrapping system as constructed inaccordance with the principles and teachings of the present invention;

FIG. 22 is a top plan view of the actuator assembly for moving theadhesive applicator into engagement with the palletized load in order totransfer a dot of adhesive material onto the palletized load inpreparation for attaching a leading end portion of the packaging orwrapping film to the palletized load, wherein the actuator assemblyincludes a pair of actuator slide plates;

FIG. 23 is a top plan view, similar to that of FIG. 22, partiallyshowing the actuator assembly so as to more clearly show the compressionspring at the forward end of the actuator assembly;

FIG. 24 is a perspective view of a bottom support plate of the actuatorassembly that is adapted to be fixedly connected to the pair of actuatorslide plates disclosed within FIG. 22;

FIG. 25 is a top plan view of a slide track, and a slide mechanismslidably disposed within the slide track, wherein the slide track isadapted to be fixedly secured to the bottom support plate of FIG. 24;

FIG. 26 is a perspective view of the applicator support plate which isadapted to be fixedly connected to the slide mechanism disclosed withinFIG. 25;

FIG. 27 is an enlarged view of the applicator support plate disclosedwithin FIG. 26, disclosing the spring connection between the applicatorsupport plate of FIG. 26 and the bottom support plate of FIG. 24;

FIG. 28 is a top perspective view of the applicator support plate, asdisclosed within FIG. 27, having the adhesive dot tape supply roll, theapplicator roller, the idler roller, and the take-up reel rotatablymounted thereon;

FIG. 29 is a top plan view of the third embodiment of the new andimproved robotic film packaging or wrapping system showing the entireapplicator assembly of FIGS. 20-29 as mounted upon the main support armof the robot vehicle; and

FIG. 30 is a perspective view similar to that of FIG. 29 but showing theentire applicator assembly as connected to the robot vehicle.

DETAILED DESCRIPTION OF THE ILLUSTRATED EMBODIMENTS

Referring now to the drawings, and more particularlly to FIGS. 2 and 3thereof, a second type of conventional PRIOR ART film wrapping orpackaging robot is disclosed and is generally indicated by the referencecharacter 200. As will be more fully disclosed and appreciatedhereinafter, this second conventional PRIOR ART film wrapping orpackaging robot 200 will be modified in several ways so as toeffectively achieve the new and improved film wrapping or packagingrobot of the present invention, and for continuity purposes throughoutthis disclosure, component parts of the various robots which correspondto component parts of the first conventional PRIOR ART film wrapping orpackaging robot as illustrated within FIG. 1 will be provided withcorresponding reference characters except that they will be within the200 series. More particularly, as can best be seen from FIGS. 2 and 3,and as was the case with the first conventional PRIOR ART film wrappingor packaging robot 100 illustrated with-in FIG. 1, the secondconventional PRIOR ART film wrapping or packaging robot 200 is seen tocomprise a motorized unit or vehicle 202 having a suitable drive motor,not shown, operatively connected to the inside one of a pair of rearwheels 204,204 such that the robot 200 can effectively circumnavigatearound a palletized load disposed at a package wrapping station. Therobot 200 is also seen to comprise an upstanding mast 206 upon which asupport arm 208 is pivotally mounted. A suitable actuator 210 isoperatively connected to the a first proximal end of the support arm208, while the second opposite or distal end of the support arm 208 hasa film roll housing 212 mounted thereon. An upstanding spindle 213 isfixedly mounted upon the film roll housing 212 for rotatably mounting,holding, and accommodating a roll of packaging film, not shown, thereon.As can therefore be readily appreciated, and in a manner similar to thatcharacteristic of the first conventional PRIOR ART robot 100 illustratedwithin FIG. 1, when the actuator 210 is effectively retracted, as can beseen in FIG. 3, the first proximal end of the support arm 208 is causedto move downwardly thereby correspondingly lowering the second oppositedistal end of the support arm 208 so as to accordingly lower the filmroll housing 212 and the roll of packaging film disposed upon thespindle 213.

Conversely, when the actuator 210 is extended, the first proximal end ofthe support arm 208 will be elevated so as to cause the film rollerhousing 212 and the roll of packaging film disposed upon the spindle 213to likewise be elevated. The different elevational levels of the filmroll housing 212 and the packaging film disposed upon the spindle 213can be accordingly controlled so as to achieve desired wrapping orpackaging of the palletized load in accordance with predeterminedwrapping or packaging patterns. It is additionally seen that the secondconventional PRIOR ART robot 200 is also provided with a feelermechanism, which may be, for example, a wheel 216 that is operativelymounted upon the distal end of a support arm 218, while the proximal endof the support arm 218 is operatively connected to a forward steeringwheel assembly 219. This feeler mechanism or wheel 216 is adapted to bedisposed in contact with the palletized load as the robot 200circumnavigates around the palletized load during the film wrapping orpackaging operation so as to maintain the robot 200 at a predetermineddistance from the palletized load in order to package or wrap thepalletized load in the wrapping or packaging film in a uniform andconsistent manner. The support arm 218 may be spring-biased or have afluid shock absorber, not shown, operatively associated therewith suchthat when the robot 200, through means of the feeler or wheel 216,contacts the palletized load, the spring or shock absorber willeffectively accommodate any contact load or force impressed upon thepalletized load such that no damage is caused to the palletized load.

With reference now being made to FIGS. 4 and 5, pertinent portions of afirst embodiment of a new and improved robot, which is generallyindicated by the reference character 300 and which effectively is arobot similar to the robot 200 as illustrated within FIGS. 2 and 3 butmodified in accordance with the principles and teachings of the presentinvention, is disclosed. For brevity purposes, a discussion of thestructural components of the first embodiment of the new and improvedrobot 300, which are similar to corresponding structural components ofthe robot 200, will not be discussed but have been assignedcorresponding reference characters within the 300 series, with theensuing disclosure concentrating upon, or being directed toward, the newand improved features of the robot 300. More particularly, for example,as can best be seen from FIG. 4, the film roll housing or framework 312is fixedly mounted upon the distal end of the support arm 308 by meansof a mounting bracket 320, and in addition, an actuator 322, which maybe, for example, a suitable piston-cylinder assembly, is fixedly mountedupon the film roll housing or framework 312. The actuator orpiston-cylinder assembly 322, is provided with anextensible/contractible piston rod 324, and an applicator plate 326, thepurpose of which will be explained more fully hereinafter, is pivotallymounted upon the free or external end of the piston rod 324 by means ofa pivotal mounting assembly 328 such that the applicator plate 326 ispermitted to pivot when the same comes into contact with a palletizedload so as not to damage the palletized load as will be more fullyexplained hereinafter.

Continuing further, and as can probably best be appreciated from FIG. 5,a motorized tape dispensing assembly 330 is also mounted upon the filmroll housing or framework 312 by means of a support plate 332 which is,in turn, fixedly mounted to an upstanding member 334 of the film rollhousing or framework 312. As can best be seen from FIG. 4, a first drivemember 336 is disposed upon the tape dispensing assembly 330 and isadapted to be driven by means of a small motor 338 as can best be seenin FIG. 4. The first drive member 336 is drivingly engaged with a seconddriven member 340, such as, for example, by means of a pulley band orthe like, not shown. In addition, the second driven member 340 isdrivingly connected to a pair of capstans 342,344 by means of a pulleyband 346 or other similar drive mechanism. The second driven member 340is adapted to have a roll of tape, not shown, disposed thereon, wherein,for example, a plurality of adhesive dots, also not shown, are disposedupon the roll of tape. The adhesive dot tape will be conveyed around orbetween the pair of capstans 342,344 so as to come into contact with thewrapping or packaging film which is mounted upon the spindle 313 andwhich is conveyed toward the palletized load by means of one or morerollers, one of which is disclosed at 348, mounted upon the film rollhousing or framework 312.

The one or more rollers 348 may be either a drive roller, a tensionroller, a stretch roller, or the like, conventionally provided uponknown film packaging or wrapping systems. Accordingly, when the wrappingor packaging film from the roll of film disposed upon the spindle 313comes into contact with the adhesive dot tape being dispensed from thetape dispensing assembly 330, the adhesive dots will be transferred fromthe adhesive dot tape onto the leading end portion of the wrapping orpackaging film because the adhesive affinity defined between theadhesive dots and the wrapping or packaging film is greater than theadhesive affinity defined between the adhesive dots and the roll ofpaper upon which the dots are initially disposed and which defines theroll of adhesive dot tape. When one of the adhesive dots is in factsecured upon the leading end portion of the wrapping or packaging film,the actuator 322 may then be actuated so as to effectively act as aplunger mechanism, extending the piston rod 324 and the applicator plate326 toward the palletized load, such that the applicator plate 326 willcause the leading end of the wrapping or packaging tape, having theadhesive dot secured thereon, to be adhesively bonded to the palletizedload whereby a film wrapping or packaging operation can commence. It isof course to be noted that as a result of this adhesive dot applicationsystem, the operation of adhering the leading end portion of thewrapping or packaging tape to the palletized load is completelyautomated with no need for any operator interaction. It is still furthernoted that the adhesive member is not to be limited to an adhesive dotbut may comprise an adhesive patch, an adhesive strip, an adhesivelabel, or the like.

With reference now being made to FIG. 6, the schematic drawingillustrates another important feature of the robot system of the presentinvention wherein a multitude of robots 300, as illustrated within FIGS.4 and 5, are now disposed adjacent to a plurality of wrapping orpackaging stations or areas 350 at which a plurality of palletized loads352 are disposed awaiting to be wrapped or packaged. A programmablelogic controller (PLC) 354 is also provided within the vicinity of themultitude of robots 300, and it is schematically illustrated that thesingle programmable logic controller (PLC) 354 is effectively linked toeach one of the robots 300 by any suitable type of wirelesscommunication links 356,358,360, such as, for example, blue toothtechnology or any other equivalent thereof. It is to be understood thatwhile, for example, three robots 300 have been illustrated, the presentinvention system can of course be effectively utilized in conjunctionwith any number of robots 300, that is, a single robot 300, three robots300, less than three robots 300, and more than three robots 300. In thismanner, the single programmable logic controller (PLC) 354 can control asingle or a multitude of automatically operable film wrapping orpackaging robots. It is further seen that each one of the robots 300will traverse a circular locus 362 around each palletized load 352, andthat each robot 300 will initiate or commence each film wrapping orpackaging cycle or operation from an initial HOME or START positionwhich may, for illustrative purposes, be considered to be the sixo'clock position of a clock face. In other words, at the conclusion of aparticular film wrapping or packaging cycle or operation, each robot 300will be returned to its START or HOME position in preparation for thestart or commencement of a new film wrapping or packaging cycle oroperation. This is important for the overall efficiency of the filmwrapping or packaging operation as will now be explained.

As can readily be appreciated, the programmable logic controller (PLC)354 will effectively operatively interface with each robot 300 so as toinitiate the start or commencement of a film wrapping or packaging cycleor operation, as a result of, for example, an operator pushing a STARTbutton on a console or control panel, not shown, of the programmablelogic controller (PLC) 354. The programmable logic controller (PLC) 354will also control all movements of the robot 300 and the various movablecomponents thereof, such as, for example, the elevation of the supportarm 308, the extensible/contractible movements of the piston rod 324 andthe applicator plate 326, and the like, in order to achieve the desiredfilm wrapping or packaging patterns. Such patterns can include, forexample, a predetermined number of film layers wrapped around the lowerpart of the palletized load, a predetermined number of film layerswrapped around the upper end of the palletized load, a predeterminednumber of overlapping or overwrapping film layers, the degree of overlapor overwrap of such film layers, the speed of the robots when traversingthe circular loci 362, the speed at which the support arm 308 iselevated or lowered so as to, in turn, determine, for example, thenumber of film layers that will be wrapped around the palletized whiletransitioning between the lower end of the palletized load and the upperend of the palletized load, or the like. Of course the individual robots300 can also have their own operational programs incorporated withintheir units and these computers or controllers can likewise interfacewith the main or primary programmable logic controller (PLC) 354.

An interesting additional operational control that can also beimplemented by means of the single programmable logic controller (PLC)354, is, as has been alluded to hereinbefore, that the programmablelogic controller (PLC) 354 can effectively ensure that at the conclusionof a film wrapping or packaging cycle or operation, each robot 300 isreturned to its START or HOME position. One might wonder that if therobots 300 were programmed to wrap the palletized load 352 with apredetermined number of complete film wraps or layers at both the topand bottom of the palletized load 352, then at the conclusion of theupper and lower film wrap layers, and therefore at the conclusion of theentire film wrapping or packaging cycle or operation, the robots 300would inherently or by definition be disposed back at their START orHOME positions. However, this is not necessarily true. Assuming, forexample, that a particular robot 300 has been programmed to wrap itspalletized load 352 with five complete film wraps or layers at the lowerend of the palletized load 352 and five complete film wraps or layers atthe upper end of the palletized load 352. In addition, depending upon,for example, the vertical height of the palletized load, the elevationof the support arm 308 will require more time to reach the upper end ofthe palletized load when a particular palletized load is taller thananother palletized load. During the transition between the completionof, for example, all of the film wraps or layers around the lower end ofthe palletized load 352 and the commencement of the film wraps or layersaround the upper end of the palletized load 352, the robot 300 continuesto traverse its circular locus 362. For example, for loads that are fourfeet high and six feet high, respectively, it will require more time forthe support arm 308 to reach the top of the six foot high load than forit to reach the top of the four foot high load, and during thesetransition times, the robot 300 continues to traverse its circular locus362. Accordingly, the robot 300 will be disposed at a differentcircumferential position along the circular locus 362 depending upon theheight of the palletized load.

Thus, while each film wrap or layer around the lower end of thepalletized load 352 started and ended at, for example, the START or HOMEor six o'clock position, when the support arm 308 has elevated the filmroll housing or framework 312 to its properly elevated position inpreparation for commencement of the film wrapping or packaging at theupper end of the palletized load which is four feet high, the robot 300may not in fact be disposed at its START or HOME or six o'clockposition, but may in fact be disposed at, for example, a positiondiametrically opposite the START or HOME or six o'clock position, thatis, at the twelve o'clock position. For a palletized load that is sixfeet high, the robot 300 may be disposed at, for example, the threeo'clock position. A photoeye or other sensor, not shown butconventionally provided upon such mobile robots, will send a signal tothe control logic of the conventional robot that the support arm and thefilm roll housing or framework of the conventional robot have nowattained their uppermost positions at which time the film packaging orwrapping of the upper end portion of the palletized load can now becommenced. Accordingly, the film packaging or wrapping cycle oroperation will in fact then be commenced and such film packaging orwrapping cycle or operation will also end or terminate at the twelveo'clock position. Thus, the robot will not be positioned back at theSTART or HOME position in preparation for the commencement of a new filmpackaging or wrapping cycle or operation. In accordance with the presentinvention, however, the programmable logic controller (PLC) 354 cancontrol the robots 300 such that regardless of where a particular filmpackaging or wrapping cycle or operation terminates, the robots 300 willbe moved immediately back to their START or HOME positions. This caneasily be done, for example, by means of the programmable logiccontroller (PLC) 354 keeping track of the lineal or angular displacementof each robot 300 from its START or HOME position.

Still yet further, it is also to be appreciated that the singleprogrammable logic controller (PLC) 354 can of course simultaneouslycontrol the multiple robots 300 or it can individually control any oneof the multiple robots 300. For example, if one of the palletized loads352 has not in fact been delivered to its designated film wrapping orpackaging station 350, or if the particular load 352 has, for somereason, not been properly placed at the proper position within the filmwrapping or packaging station 350, such as, for example, at the centerof the film wrapping or packaging station 352, the programmable logiccontroller (PLC) 354 will not send the appropriate START signal to thatparticular robot 300 operatively associated with that palletized load352 and that particular film wrapping or packaging station 350, however,suitable control signals will in fact be sent to the other robots 300 inconnection with which the palletized loads have been sensed as beingpresent and properly located within the particular or respective filmwrapping or packaging station 350. It is lastly noted that the actualdrive mechanism for each one of the robots 300 may comprise a forwardsteering wheel assembly, not shown, which may also be under the controlof the programmable logic controller (PLC) 354 and is similar to theforward steering wheel assembly 219 of the robot 200 illustrated withinFIG. 2, or alternatively, the circular loci 362, which the robots 300traverse, can comprise a magnetic strip, or particularized paint, whichsensors within the robot 300 can effectively see or track.

With reference now being made to FIGS. 7-18, a second embodiment of anew and improved robotic film packaging or wrapping system, and thevarious operative components thereof, as constructed in accordance withthe principles and teachings of the present invention, is disclosed andis generally indicated by the reference character 400. It is to be notedthat operative components of the second embodiment of the new andimproved robotic film packaging or wrapping system 400, which correspondto operative components of the first embodiment of the new and improvedrobotic film packaging or wrapping system 300 as illustrated withinFIGS. 4-6, will be designated by corresponding reference charactersexcept that they will be within the 400 and 500 series. Still yetfurther, for brevity purposes, a discussion of the structural componentsof the second embodiment of the robotic film packaging or wrappingsystem 400, which are similar to corresponding structural components ofthe first embodiment of the robotic film packaging or wrapping system300, or which are similar to the PRIOR ART robotic film packaging orwrapping system 200, will not be discussed, the ensuing disclosureconcentrating upon, or being directed toward, the new and improvedfeatures of the second embodiment robotic film packaging or wrappingsystem 400.

More particularly, as can best be seen from FIGS. 7 and 8, one of thenew and improved structural features or operative componentscharacteristic of the second embodiment robotic film packaging orwrapping system 400, as compared to the first embodiment robotic filmpackaging or wrapping system 300, or as compared to the PRIOR ARTrobotic film packaging or wrapping system 200, is that in lieu of theuse of a single feeler mechanism or guide wheel 216, the motorized unitor robot vehicle 402 of the second embodiment robotic film packaging orwrapping system 400 is provided with a pair of feeler mechanisms orguide wheels 416,417. The provision of the dual guide wheel system416,417 has been found to provide better stability for the packaging orwrapping system 400 with respect to the palletized load to be wrapped orpackaged, particularly when the robot 402 is navigating around cornersof the palletized load. As can best be appreciated from FIG. 8, the dualguide wheels 416,417 are effectively connected together by means of atie bar 419 at the center of which is a rotary axle 421. A pair ofvertically dependent axles 422,424 are fixedly mounted within oppositeends of the tie bar 419, and each one of the dual guide wheels 416,417is rotatably mounted upon a respective lower end portion one of theaxles 422,424 by means of rotary bearing assemblies 423, 425. Inaddition, an upstanding spindle 427 projects upwardly through the distalor free end portion of the main support arm 418 of the robot 402, and aconnecting bar 429 has one end thereof pivotally connected to the lowerend portion of the spindle 427 beneath the support arm 418 while theopposite end of the connecting bar 429 is pivotally connected to thelower end portion of the rotary axle 421.

In this manner, the dual guide wheels 416,417 are effectively free tomove in angular modes in order to remain engaged with sides of thepalletized load as the robot 402 moves about the palletized load.Accordingly, as the robot 402 navigates a corner of the palletized load,the leading wheel 416, as viewed in the direction of the movement of therobot 402 around the palletized load, will first disengage from the sideof the palletized load which has just been wrapped, but due to thepivotal mounting of the dual guide wheels 416,417 upon the robot 402through means of the rotary axle 421, the spindle 427, and theconnecting bar 429, as has been described, as well as the constant orcontinuous engagement of the dual guide wheels 416,417 with thepalletized load through means of the support arm 418, the tie bar 419will effectively be caused to pivot around the rotary axle 421 therebycausing or permitting the leading wheel 416 to engage the next side ofthe palletized load while the trailing wheel 417 is still engaged withthe previously wrapped side of the palletized load. This dual guidewheel mounting system therefore permits the film wrapping or packagingto proceed in a smooth and tight manner with respect to the palletizedload as opposed to, for example, the use of a single guide wheel systemwhich may cause the robot to effectively “bounce” or momentarilydisengage from the palletized load as the robot navigates around thecorner regions of the palletized load.

With continued reference being made to FIG. 8, and with additionalreference being made to FIGS. 9 and 10, it is to be appreciated that inaccordance with the principles and teachings of the second embodimentrobotic film packaging or wrapping system 400, the adhesive dotapplication system of the first embodiment robotic film packaging orwrapping system 300 has effectively been eliminated, and in lieuthereof, there has been incorporated an adhesive tape or adhesive stripapplication system or assembly whereby an adhesive tape or adhesivestrip is to be applied to a side wall portion of the palletized load inorder to, in turn, adhere a leading end portion of the wrapping orpackaging film 414 to the adhesive tape and the palletized load in orderto commence a wrapping or packaging film operation with respect to thepalletized load. More particularly, as can initially best be seen fromFIG. 8, a first support plate 431, having a mounting block 433 and aspacer collar 435 integrally formed therewith, are effectively mountedupon the support arm 418 so as to be movable therewith, the collar 435being angularly or pivotally movably mounted upon the upstanding spindle427. It is further noted that an additional pair of collars 437 is alsoprovided in conjunction with the spacer collar 435 and the mountingblock 433 by means of which the first support plate 431 is not onlydisposed at a predetermined angle with respect to the robot support arm418, but in addition, the first support plate 431 is disposed at apredetermined height with respect to the robot support arm 418. Anactuator 439 is mounted upon a side portion of the first support plate431 and is operatively connected to a second, linearly slidableactuation plate 441 that is operatively connected to the first supportplate 431 by means of a pair of springs 443. Actuation of the actuator439 will cause the second actuation plate 441 to move linearly againstthe spring bias of the pair of springs 443, whereas when the actuator439 is deactuated, the pair of springs 443 will return the secondactuation plate 441 to its original position. A third gun support plate445 is pivotally mounted upon the second actuation plate 441 by means ofa pivot mechanism, not shown, and a corner portion of the third gunsupport plate 445 is operatively connected to the second actuation plate441 by means of a biasing spring 447.

With reference now also being made to FIGS. 9 and 10, it is additionallyseen that the adhesive tape or adhesive strip application system orassembly further comprises a an adhesive tape or adhesive stripapplication gun 449. The application gun 449 can comprise a standardapplication gun, such as, for example, a SCOTCH• ATG 700, and is seen tocomprise a gun handle 451, a trigger mechanism 453, and an adhesive tapeor adhesive strip housing 455. The gun 449 is adapted to be mounted uponthe gun support plate 445, and in order to confine the gun 449 at aparticular position and angular disposition upon the gun support plate445, a first upstanding semi-circular ring or barrier is provided uponthe gun support plate 445 as at 457, as can best be seen in FIG. 9, soas to engage the right end portion of the housing 455, while a secondupstanding semi-circular ring or barrier is likewise provided upon thegun support plate 445 as at 459, as can best be seen in FIG. 8, so as toengage the left end portion of the housing 455. While the barriers 457and 459 effectively serve to secure the position and angular dispositionof the gun 449 at a particular position and orientation upon the gunsupport plate 445, the gun 449 is actually locked in place or lockeddown onto the gun support plate 445 by means of a conventionalover-center locking mechanism 461 which is clearly shown in FIGS. 9 and10.

As can be seen from FIGS. 9 and 10, the over-center locking mechanism461 comprises a base member 463 fixedly secured to the gun supportplate, a locking bar 465, and an operating handle 467. The base member463 actually comprises a clevis structure with pivot pins 469 and 471extending therethrough. In addition, the free distal end portion of theoperating handle 467 is pivotally connected to the proximal end portionof the locking bar 465 as at 473, while the operating handle 467 isoperatively connected to the pivot pin 471 by means of a connectormember, not shown or capable of being seen, which connects the pivot pin471 to another pivot pin 475. As can be readily appreciated from FIGS. 9and 10, and in accordance with well-known operative techniquescharacteristic of an over-center locking mechanism, when the operatinghandle 467 is pivotally moved to its upward or raised position as shownin FIG. 10, the upward movement of the right, free, or distal endportion of the operating handle 467 will force the locking bar 465 tomove upwardly, due to the pivotal interconnection between the operatinghandle 467 and the locking bar 465 as at 473, such that the locking bar465 no longer engages the handle portion 451 of the application gun 449whereby the application gun 449 is free to be removed from its lockedposition upon the gun support plate 445. Conversely, downward movementof the right, free, or distal end portion of the operating handle 467will force the locking bar 465 to move downwardly, due to the pivotalinterconnection between the operating handle 467 and the locking bar 465as at 473, such that the locking bar 465 is forced into engagement withthe handle portion 451 of the application gun 469 thereby locking theapplication gun 449 at its locked position upon the gun support plate445.

Continuing further, and with reference still being made to FIGS. 8 and9, a trigger actuator 475, in the form of an upstanding tubular member,is disposed adjacent to the application gun trigger mechanism 453 and isfixedly mounted upon a plate 477. The trigger actuator 475 isoperatively connected to the piston rod 479 of a solenoid actuator 481,and accordingly, when the solenoid actuator 481 is fired and maintainedin the ON position, the piston rod 479 is retracted and moved toward theright as viewed within FIGS. 9 and 10 thereby causing the triggermechanism 453 to be maintained at its firing position. With referencereverting back to FIG. 8, it is further seen that a supply roll of anadhesive tape or an adhesive strip is disposed internally within theadhesive tape or adhesive strip housing 455 and is disclosed at 483. Theadhesive tape or adhesive strip actually comprises a paper tape or stripupon which there is disposed a double-sided adhesive tape or stripwherein one side of the double-sided adhesive tape or strip has asubstantially larger adhesive affinity for or with respect to thepalletized load than for or with respect to the paper backing tape orstrip. Accordingly, When the side of the double-sided adhesive tape orstrip, which has the larger adhesive affinity, is effectively forcedinto contact with the palletized load, it will effectively release fromthe paper backing strip and stick to the palletized load. In order toachieve the dispensing of the adhesive strip or tape from its supplyroll 483, a braking roller 485 and an idler application roller 487 aremounted upon suitable support brackets, not shown, at a positionadjacent to an outlet or output port of the adhesive tape or adhesivestrip housing 455 whereby the two rollers are disposed in peripheralcontact with each other such that the idler application roller 487 iscaused to rotate as a result of its contact engagement with thepalletized load 452 with the braking roller 485 permitting the idlerapplication roller 487 to rotate. The adhesive tape or adhesive stripwill exit the housing 455 and be routed around an external peripheralportion of the braking roller 485 and effectively be inserted orthreaded into the nip defined between the braking roller 485 and theidler application roller 487. The highly sticky side of the double-sidedadhesive tape will be disposed in contact with the braking roller 485while the paper-backing portion of the double-sided adhesive tape willbe disposed in contact with the idler application roller 487.

The braking roller 485 is treated with a suitable substance so as toprevent the highly sticky side of the double-sided tape from stickingthereto, and therefore, as the adhesive tape or strip moves around theouter peripheral surface of the idler application roller 487, the highlysticky side of the double-sided adhesive tape or strip will effectivelyface outwardly from the idler application roller 487 and will bedisposed toward the palletized load 452. As can also be seen from FIG.8, the gun housing 455 also includes a take-up reel 489 for the paperbacking of the double-sided adhesive tape or strip, wherein the take-upreel 489 may be driven when the trigger mechanism 453 is activated.Alternatively, the take-up reel 489 can be operatively connected to theidler application roller 487 such that as the idler application roller487 rotates and deposits the adhesive tape or strip onto the palletizedload 452, the take-up reel 489 is being rotated so as to take-up thepaper backing strip or tape. The braking roller 485 is also operativelyconnected to the trigger mechanism 453. Accordingly, when the solenoid481 is deactivated, the trigger mechanism 453 is released and thebraking roller 485 is braked or prevented from rotating, thereby, inturn, effectively braking the idler application roller 487 such that theidler application roller 487 no longer rotates and no long dispenses theadhesive tape or adhesive strip onto the palletized load 452. The robotvehicle 402 continues to move however, thereby causing the adhesive tapeto sever while the paper backing of the double-sided adhesive tape orstrip remains intact. This operation will be explained in greater detaillater in the specification.

With reference now being made to FIG. 11, another new and unique featurecharacteristic of the robot vehicle 402 of the second embodiment of therobotic film packaging or wrapping system of the present invention willnow be described. It has previously been noted with respect to the PRIORART robotic systems as disclosed within FIGS. 1-3, as well as withrespect to the first embodiment of the robotic film packaging orwrapping system of the present invention as disclosed within FIGS. 4-6,that it is important to not only know where the robot vehicle 402 willbe located relative to its original HOME or START position, but moreimportantly, that the robot vehicle 402 can be returned to its originalHOME or START position in preparation for the commencement of a new filmwrapping or packaging operation. Accordingly, the robot vehicle 402 hasbeen provided with a proximity sensor 491, and the floor region of thewrapping station 450 has been provided with a metal plate 493 suitablysecured to the particular floor region of the wrapping station 450designating the HOME or START position of the robot vehicle 402.Accordingly, after completion of a particular film wrapping or packagingoperation, the programmable logic controller (PLC) 454, operativelyconnected to the robot vehicle 402 through means of the suitablecommunication links 456, will cause the robot vehicle 402 tocircumnavigate the palletized load, regardless of where the robotvehicle 402 is with respect to the palletized load and with respect tothe HOME or START position, until the proximity sensor 491 detects themetal plate 493, indicating the HOME or START position, at which timethe programmable logic controller (PLC) 454 will terminate the motordrive of the robot vehicle 402. For best results using the proximitysensor 491 in connection with the metal plate 493 in order to detect theSTART or HOME position, it has been determined that the proximity sensor491 should be approximately one inch (1.00″) in diameter and that itshould be secured to a side portion of the robot vehicle 402 such thatthe proximity sensor 491 is located approximately eight centimeters (8cm) above the metal plate 493.

With reference now being made to FIG. 12, still another new and uniquefeature characteristic of the robot vehicle 402 of the second embodimentof the robotic film packaging or wrapping system of the presentinvention will now be described. In connection with all film wrapping orpackaging systems, it is always important to know how much wrapping orpackaging film is being utilized in connection with the wrapping orpackaging of a particular load. For example, such data may be desiredfor efficiency-improvement purposes. In other words, wrapping orpackaging installations may desire to vary their wrapping or packagingtechniques so as to reduce the amount of film required to wrap orpackage a particular load. Alternatively, such data may be used as ameans for accurately tracking how much film is being used for particularwrapping or packaging operations in connection with which the wrappingor packaging installation is only required to pay for the film actuallyused.

Accordingly, in accordance with the principles and teachings of thepresent invention, the upper end portion of one of the wrapping orpackaging film dispensing roller axles 495 is provided with a pluralityof studs or bosses 497. In particular, four of such studs or bosses 407are fixedly mounted upon the upper end portion of the particular filmroller axle 495 at equiangularly spaced locations, that is, 90° apart. Aproximity counter 499 is disposed adjacent to the upper end portion 495of the particular roller axle, and accordingly, as the roller axlerotates, the plurality of studs or bosses 497 rotate past the proximitycounter 499. The proximity counter 499 can therefore count the number ofstuds or bosses 497 passing thereby, such data can be transmitted to theprogrammable logic controller (PLC) 454, and knowing the diameter of theparticular roller, which could be an idler roller, a stretch roller, orthe like, a determination can be derived as to how much wrapping orpackaging film has been unwound from its supply roll and wrapped uponthe palletized load.

A last new, novel, and unique structural feature characteristic of thenew and improved second embodiment of the robotic film packaging orwrapping system 400 of the present invention will now be described withreference being made to FIGS. 13-18. More particularly, FIGS. 13-18 areconcerned with a new and improved film cutting and clamping mechanism,and an operative assembly for appropriately moving the same, whereby atthe conclusion of a particular film wrapping or packaging operation, thewrapping or packaging film is severed so as to effectively create atrailing end portion of the wrapping or packaging film which effectivelyself-adheres to the palletized load, while simultaneously creating aleading end portion of the wrapping or packaging film which is retainedso as to be utilized to commence the next film wrapping or packagingoperation in connection with a new palletized load. In accordance withthe principles and teachings of the present invention, it is seen fromFIGS. 13-18 that a substantially C-shaped mounting plate or bracket 501has a pair of memory foam members 503,505 mounted upon the front facethereof, that is, the face that is disposed toward the palletized load.In addition, a clamping plate 507 is provided, and a cutting implement509 is fixedly mounted upon the clamping plate 507. The clamping plate507 is fixedly mounted upon the distal end portion of a horizontallyoriented rod member 511 wherein the horizontally oriented rod member 511passes through the mounting plate 501 so as to be operatively connectedto suitable actuating mechanisms mounted upon the back or rear side ofthe mounting plate 501 as will become more apparent hereinafter. The rodmember 511 is both linearly movable in the horizontal direction alongits axis, and rotatable through an angular extent of 90° about itslongitudinal axis, whereby two different or separate operative positionswith respect to its longitudinal axis are defined.

It is initially to be appreciated that the clamping plate 507 and thecutting implement 509 are normally spaced away from the wrapping orpackaging film and are disposed upon one side of the packaging orwrapping film while the palletized load 452 is disposed upon theopposite side of the packaging or wrapping film, that is, during a filmpackaging or wrapping operation. The exception to this relative state ofthe various structural components with respect to each other is when afilm packaging or wrapping operation is being completed at which timethe packaging or wrapping film is about to be severed by the cuttingimplement 509 in order to effectively create the trailing end portion ofthe packaging or wrapping film which will effectively self-adhere to thepackaged or wrapped palletized load, and the leading end portion of thepackaging or wrapping film which will be retained by the clamping plate507 in preparation for the commencement of a new film packaging orwrapping operation. It is to be noted that, as can best be seen fromFIG. 13, the cutting implement 509 includes a knife edge or similarcutting or severing structure 513 for performing the severance of thepackaging or wrapping film. FIG. 14 clearly illustrates how the rodmember 511 passes through the mounting plate or bracket 501, and FIGS.15 and 16 illustrate the various structural components for moving thehorizontally oriented rod member 511 linearly along its horizontallyoriented axis as well as for rotating the rod member 511 around itshorizontally oriented axis. As may be readily appreciated, since theclamping plate 507 and the cutting implement 509 are fixedly mountedupon the free distal end portion of the horizontally oriented rod member511, then the linear and angular movements of the rod member 511 willcause cutting implement 509 to undergo similar movements.

As can be seen from FIGS. 15 and 16, a horizontal platform 515 isfixedly attached to a rear face 517 of the mounting plate or bracket501, and a substantially vertically oriented actuator 519 is mountedupon the platform 515. The actuator 519 comprises a cylinder 521 and apiston 523, and it is also seen that the rod member 511 is fixedlydisposed within a collar 525 which is rotatably mounted upon themounting plate or bracket 501 through means of a suitable bearingassembly 527. The piston rod 523 is fixedly connected to an ear orcircular disk 529, and the ear or circular disk 529 is, in turn, fixedlyconnected to a connector block 531 which is fixedly connected to anouter peripheral or tangential portion of the collar 525 which isradially offset from the longitudinal axis of the rod member 511.Accordingly, when the piston 523 of the actuator 519 is moved from itsretracted position illustrated within FIG. 16 to its extended positionillustrated within FIG. 17, the collar 525 has effectively been rotatedapproximately 90° in the clockwise direction, and consequently, the rodmember 511, along with the clamping plate 507 and the cutting implement509, have also been rotated through such an angular extent. Therefore,the clamping plate 507 and the cutting implement 509 have been rotated,for example, from an initially horizontally oriented position to avertically downward position, the significance of which will becomeclearer hereinafter.

Continuing still further, and with reference still being made to FIGS.16 and 17, it is further seen that a horizontally oriented actuator 533is also fixedly mounted upon the rear face 517 of the mounting plate orbracket 501, and that the horizontally oriented actuator 533 comprises acylinder 535 and a piston 537 which cannot be seen very well within FIG.16 but can in fact be seen quite clearly within FIG. 17. The actuatorcylinder 535 has an upstanding square-shaped bracket or collar 539fixedly mounted thereon, and the bracket or collar 539 is, in turn,fixedly mounted upon the horizontally oriented rod member 511. It isnoted that contrary to the normal actuation of a typical conventionalactuator wherein the piston is the relatively movable component of thepiston-cylinder assembly, in this case, the actuator cylinder 535 is themovable component in view of the fact that the piston 537 is fixedlyattached to the rear face 517 of the mounting plate or bracket 501. As aresult of the longitudinal movement of the actuator cylinder 535 in therearward direction away from the rear face 517 of the mounting plate orbracket 501, and the fixation of the actuator cylinder 535 to the rodmember 511 through means of the collar or bracket 539, the rod member511, along with the clamping plate 507 and the cutting implement 509,are also moved in the rearward direction. Considered conversely,however, the clamping plate 507 and the cutting implement 509 areeffectively moved toward the front face 541 of the mounting plate orbracket 501. More particularly, as can also be best appreciated fromFIGS. 14 and 15, as the clamping plate 507 and the cutting implement 509are moved toward the front face 541 of the mounting plate or bracket501, the cutting implement 509 encounters the packaging or wrapping film543 extending from the palletized load 452 and will sever the packagingor wrapping film 543 thereby forming a trailing end portion of thepackaging or wrapping film 543 which will self-adhere to the palletizedload, while the clamping plate 507 forcefully engages the small block ofmemory foam 503 so as to fixedly retain a leading end portion of thepackaging or wrapping film 543 which is now actually stretched tautacross the large block of memory foam 505 as seen in FIG. 15.

With reference lastly being made to FIG. 18 in connection with thevarious structural components comprising the second embodiment roboticfilm packaging or wrapping system 400, it is seen that the upstandingpackaging or wrapping film roll spindle 413 is fixedly secured upon afilm dispensing roller housing 412, and that the film dispensing rollerhousing 412 is provided with a framework which is pivotally attachedthereto. More particularly, it is seen that the framework comprises avertically oriented bar or rod 545 that is pivotally mounted upon thefilm dispensing roller housing 412 so as to be pivotal about thelongitudinal axis of the vertically oriented bar or rod 545, and threehorizontally oriented, vertically spaced bars or rods 547,549,551 whichare fixedly mounted to lower, middle, and upper portions of thevertically oriented bar or rod 545. A mounting bracket 553 extendsoutwardly from the floor or lower platform 555 of the film dispensingroller housing 412, and an actuator 557 is fixedly attached to the flooror platform 555 and the lower horizontal bar 547 of the framework.

In addition, it is seen that the mounting plate or bracket 501 ispivotally mounted upon free distal end portions of the horizontallyoriented middle and upper bar or rod members 549,551 of the framework asat upper and lower pinions 559, only the upper one being visible. Inthis manner, when the actuator 557 is actuated so as to extend orretract the piston thereof (not visible), the framework is able to bemoved toward or away from the palletized load 452 which will, in turn,move C-shaped mounting bracket or plate 501, and the clamping plate 507and the cutting implement mounted 509 mounted thereon, toward or awayfrom the palletized load 452. When the mounting bracket or plate 501 ismoved into engagement with the palletized load 452, it is desired thatthe mounting bracket or plate 501, having the large block of memory foam505 mounted thereon, be flush with the palletized load 452 such that theleading end portion of the packaging or wrapping film 543 can beproperly applied to the palletized load 452. In order to ensure thisflush disposition of the mounting bracket or plate 501, and to furtherensure that the mounting bracket or plate 501 does not move or pivot toofar backwardly beyond the flush position, a strong coil spring 561 ismounted around the lower pinion 559 with opposite ends 563,565 of thecoil spring 561 being connected to the mounting bracket or plate 501 andto the middle framework bar or rod 549, respectively. If desirable, forspatial considerations, or for locating the mounting bracket or plate501, with its various operative components thereon, at a particulartrailing-end location with respect to the robot vehicle 402, the varioushorizontally oriented framework members 547, 549,551 may comprisetelescopic structures.

Having described substantially all of the structural components of thesecond embodiment robotic film packaging or wrapping system 400, a briefdescription of some of the important operations of the same will now bedescribed. The first operation that will be described is the attachmentof the leading end portion of the packaging or wrapping film 543 ontothe palletized load 452 as the leading end portion of the packaging orwrapping film 543 is disclosed within FIG. 15 as being effectivelyclamped onto the smaller block of memory foam 503 by means of theclamping plate 507 and with an adjacent portion of the packaging orwrapping film 543 extending across the larger block of memory foam 505in a taut manner. The film packaging or wrapping operation is begun withthe robot vehicle 402 disposed near a corner portion of the palletizedload 452 and the support arm 418 is moved in a clockwise direction, withrespect to the robot vehicle 402, so as to effectively bring the dualguide wheels 416,417 into engagement with the corner portion of thepalletized load 452 such that one of the guide wheels 416 is disposed inengagement with one side of the palletized load 452 while the otherguide wheel 417 is disposed in engagement with another side of thepalletized load 452. The robot vehicle 402 itself then begins to move ina clockwise direction around the palletized load 452 such that the robotvehicle 402 and the support arm 418 now move in a clockwise directionrelative to the dual guide wheels 416,417.

Accordingly, as can best be appreciated from FIG. 8, since the supportarm 418 is moving in the clockwise direction relative to the guidewheels 416,417, the entire adhesive tape or adhesive strip assembly,comprising the gun 449 and the idler application roller 487 are alsorotated in the clockwise direction whereby the idler application roller487, having the highly sticky adhesive side of the adhesive tape orstrip disposed upon its outer peripheral surface, will now approach thepalletized load 452 and will be at approximately the same radiallyoutward extent as the outer peripheral surfaces of the dual guide wheels416,417. At this point in time, the actuator 439 is actuated so as tolinearly move and extend the actuation plate 441 so as to in fact movethe idler application roller 487 further into engagement with thepalletized load 452, the solenoid 481 is activated so as to activate thetrigger mechanism 453 which drives the take-up reel 489 and releases thebraking roller 485, and the adhesive tape or adhesive strip is engagedwith and applied to a side wall portion of the palletized load 452. Dueto the greater adhesive affinity defined between the adhesive tape oradhesive strip and the palletized load 452 than the adhesive affinitydefined between the adhesive tape or adhesive strip and its paperbacking, the adhesive tape or adhesive strip is transferred from thepaper backing to the palletized load 452. It can therefore beappreciated that as the robot vehicle 402 continues to move forwardrelative to the palletized load 452, the top, spring-biased gun supportplate 445 will pivot further causing a predetermined portion of theadhesive tape or adhesive strip to unroll from the idler applicationroller 487 and be forcefully applied onto the palletized load 452. Aftera predetermined amount of the adhesive tape or adhesive strip is appliedto the palletized load 452, the solenoid 481 is deactivated, the triggermechanism 453 is deactivated, and further dispensing of the adhesivetape or adhesive strip is terminated as a result of the braking roller485 braking or stopping rotation of the idler application roller 487.The idler application roller 487 then simply moves away from thepalletized load 452 due to the continued movement of the robot vehicle402 with respect to the palletized load 452 whereby the actual adhesivetape or adhesive strip effectively snaps or breaks, while the paperbacking remains intact, due to the significant difference in tensilestrength between the adhesive strip or adhesive tape material ascompared to that of the paper backing material, and the spring 447returns the spring-biased gun support plate 445 to its originalposition.

Having now applied an adhesive tape or adhesive strip to the palletizedload 452, the robot vehicle 402 continues to circumnavigate thepalletized load 452 and when the rear end of the robot vehicle 402, uponwhich the leading end portion of the packaging or wrapping film 543 islocated as a result of being clamped onto the small block of memory foamby means of the clamping plate 507, and extending across the large blockof memory foam 505 which will serve as an application pad for applyingthe leading end portion of the packaging or wrapping film 543 onto thepalletized load 452, as can be appreciated from FIGS. 15 and 18, theactuator 557 is actuated so as to move the framework 545 and theC-shaped mounting plate or bracket 501 toward the palletized load 452whereby the leading end portion of the packaging or wrapping film 543can now be brought into contact with the adhesive strip or adhesive tapethat has been previously affixed to the palletized load. Continuedmovement of the robot vehicle 402 effectively “wipes” the leading endportion of the packaging or wrapping film 543 onto the adhesive tapepreviously applied to the palletized load whereupon the robot vehicle402 can continue to circumnavigate the palletized load 452 therebywrapping the palletized load 452 with the packaging or wrapping film ina predetermined manner or in accordance with a predetermined mode orpattern. In order to further ensure that the leading end portion of thepackaging or wrapping film 543 is in fact sufficiently engaged andpressed onto the palletized load 452, particularly where, for example, aparticular carton or box of the palletized load has an uneven or concavesurface portion, an additional or auxiliary bumper pad 566, asillustrated within FIG. 19, may be fixedly secured to the large block ofmemory foam 505.

It is of course to be appreciated that once the leading end portion ofthe packaging or wrapping film 543 has been secured to the adhesivestrip or adhesive tape disposed upon the palletized load 452, theactuator 519 is actuated so as to pivot the clamping plate 507 and thecutting implement 509 from their vertically downward position, at whichthe clamping plate 507 has clampingly retained the leading end portionof the packaging or wrapping film 543 upon the small block of memoryfoam 503, to their horizontal positions at which the clamping plate 507and the cutting implement 509 are located above the upper edge portionof the packaging or wrapping film 543 so as to effectively be completelycleat of and disengaged from the packaging or wrapping film 543. Theactuator 533 is also actuated so as to retract the clamping plate 507and the cutting implement 509 away from the packaging or wrapping film543, as is the actuator 557 so as to also retract the framework assembly545 away from the palletized load 452. It is lastly noted, as can bestbe seen in FIG. 15, that the lower end portion of the clamping plate 507is provided with a freely rotating wheel or roller 567 such that whenthe clamping plate 507 and the cutting implement 509 are pivotallyrotated from their vertically downward positions to their horizontalpositions, the wheel or roller 567 effectively enables the clampingplate 507 to freely move or roll over the packaging or wrap-ping film543 without snagging the same.

Lastly, when the film packaging or wrapping operation is completed,reverse operations are implemented in connection with the clamping plate507 and the cutting implement 509 in order to sever the packaging orwrapping film 543 and thereby effectively form a trailing end portion ofthe packaging or wrapping film, which will self-adhere to the palletizedload, and a leading end portion of the packaging or wrapping film 543which will be retained upon the small block of memory foam 503 by meansof the clamping plate 507. More particularly, when the film packaging orwrapping operation is completed, the actuator 557 is actuated so as tomove the framework 545 and the C-shaped mounting plate or bracket 501toward the film wherein such components are, at this time, upon theoutside or to the rear of the packaging or wrapping film. Actuator 519is then actuated so as to rotate the rod member 511 and thereby move theclamping plate 507 and the cutting implement 509 to their horizontalpositions above the upper edge portion of the packaging or wrapping film543, and the actuator 533 is actuated so as to move the rod member 511linearly forwardly so as to effectively move the clamping plate 507 andthe cutting implement 509 in the forward direction whereby the clampingplate 507 and the cutting implement 509 are now moved over the upperedge portion, or across the boundary, of the packaging or wrapping film543 and will effectively be disposed upon the inside of the packaging orwrapping film 543. The robot vehicle 402 is at this time stopped, andthe actuator 519 is actuated so as to effectively rotate the clampingplate 507 and the cutting implement 509 downwardly from their horizontalpositions to their vertically downward positions. Substantiallysimultaneously, the actuator 533 is also actuated so as to effectivelyretract the clamping plate 507 and the cutting implement 509 rearwardlysuch that as the cutting implement 509 encounters a body portion of thetaut packaging or wrapping film 543, it will sever the same leaving thetrailing edge portion of the packaging or wrapping film to self-adhereto the palletized load 452 while the clamping plate 507 will capture andretain the leading end portion of the packaging or wrapping film 543onto the small block of memory foam 503 as is shown in FIG. 15. Theapparatus is then ready for a new packaging or wrapping operation.

With reference now being made to FIGS. 20-30, pertinent portions of athird embodiment of a new and improved robot, which is generallyindicated by the reference character 600 and which is effectively arobot similar to the second embodiment robot 400 as illustrated withinFIGS. 7-19 but modified in accordance with the principles and teachingsof the present invention, is disclosed. For brevity purposes, adiscussion of the structural components of the third embodiment of thenew and improved robot 600, which are similar to correspondingstructural components of the second embodiment robot 400, will not bediscussed in detail but have been assigned corresponding referencecharacters within the 600 and 700 series. To the contrary, the ensuingdisclosure will concentrate upon, or be directed toward, the new andimproved features of the third embodiment of the robot 600 that, as willbecome more apparent hereinafter, deal with the applica-tion of adhesivedots, or the like, to the palletized load such that a leading endportion of a packaging or wrapping film is able to be automaticallyapplied to the palletized load, and the actuator structure for achievingthe application of the adhesive dots to the palletized load.

More particularly, with reference first being made to FIGS. 20 and 21,the primary difference that can readily be appreciated between, forexample, the third embodiment robot system 600 as disclosed within FIGS.20 and 21, and the second embodiment robot system 400 as disclosedwithin FIGS. 7 and 8, resides in the adhesive applicator subsystem orsubassembly as will become more apparent hereinafter. More specifically,it is initially noted, for example, that the main support arm 618 of therobot 602 has a substantially elongated Z-shaped configuration, that thevertically disposed axles 622,624 supporting the dual guide wheels616,617 are taller or longer than their counterparts 422,424, that thevertically oriented spindle 627 rotatably mounted within the free ordistal end portion of the main support arm 618 of the robot 602 islikewise taller or longer than its counterpart 427, and that theadhesive application subassembly or subsystem is fixedly mounted uponthe lower end portion of the vertically oriented spindle 627 but at anelevational level that is just above the dual guide wheels 616,617. Thisstructural arrangement of the variously noted system components permitsthe components to be spatially accommodated in an optimal manner whilealso permitting the variously noted system components to be optimallylocated with respect to the palletized load 652.

With reference now being additionally made to FIGS. 22-30, theindividual components, comprising the adhesive application system, aswell as their overall operative intercooperation with respect to eachother, will now be described. As can best be appreciated from FIGS.20-23, an actuator assembly for moving the adhesive applicator rollerinto engagement with the palletized load, as will be more fullydescribed hereinafter, is seen to comprise a bottom plate 654 upon whicha suitable actuator 656 is fixedly mounted. A slide housing 658 is alsomounted upon the bottom plate 654 adjacent to the actuator 656, and apair of slide plates 660,662, which are slidably disposed atop the slidehousing 658, are operatively connected to a screw actuator or rotarydrive rod 664 which can best be seen in FIGS. 22 and 23. As the actuator656 is actuated to rotate the screw actuuator or rotary drive rod 664 ina first direction, the slide plates 660,662 will move translationallyforwardly along the slide housing 658 toward the palletized load. Theslide plates 660,662 effectively serve as actuators for limit switches,not shown, so as to effectively define the travel limits, that is, theextension and contraction, or disposition, of the application rollerwith respect to the palletized load. When the slide plates 660,662 aremoved forwardly toward the palletized load, the forward slide plate 660will eventually actuate its associated limit switch such that theactuator 656 is deactuated whereby the application roller will bedisposed at and maintained at its forwardmost position so as to beengaged with the palletized load. At a predetermined time controlled bya programmable logic controller (PLC), the actuator 656 will again beactuated so as to rotate the screw actuator or rotary drive rod 664 inthe opposite direction which will cause the slide plates 660,662 to bemoved in the opposite or rearward direction away from the palletizedload such that the rear slide plate 662 will actuate its associatedlimit switch whereby the actuator 656 will be deactuated.

As can additionally best be seen from FIGS. 20 and 23, a pair ofvertically spaced collars 668,670 are mounted upon the verticallyupstanding spindle 627 and are fixedly secured to the spindle 647 bymeans of, for example, a pair of set screws, not shown, which tightlygrip external peripheral portions of the spindle 647. In addition, asbest seen in FIG. 23, a semi-circular housing 672 is fixedly secured tothe pair of collars 668,670 by any suitable means, such as, for example,welds as shown at 674, and a substantially L-shaped angle iron 676 hasits vertically oriented leg 678 fixedly secured to the housing 672 bymeans of fasteners 680, while the horizontally oriented leg 682 isfixedly secured to the bottom plate 654 of the actuator assembly bymeans of fasteners 684. In this manner, the actuator assembly isrotatably or pivotally mounted upon the upstanding spindle 647.

Continuing further, and with reference now being made to FIG. 24, thereis shown a bottom support plate 686 which is provided with a pluralityof holes or apertures 688. As can be seen from FIGS. 22 and 23, each oneof the slide plates 660,662 is also respectively provided with aplurality of holes or apertures 690,692, and in this manner, the bottomsupport plate 686 is adapted to be fixedly secured to the upper surfaceportions of the pair of slide plates 660,662 by means of suitablefasteners, not shown. In FIG. 25, there is disclosed a slide track 694which is also provided with several apertures or holes 696 whereby theslide track 694 can be fixedly secured atop the bottom support plate 686by means of suitable fasteners, also not shown. A slide mechanism,comprising a slide member 698 and a slide plate 700, is adapted to beslidably disposed within the slide track 694 as a result of the slidemember 698 being slidably disposed upon the upper surface portion of theslide track 694 and between slide track guide surfaces or edge portions702 extending along oppositely disposed, longitudinally oriented sidesof the slide track 694. The slide plate 700 is adapted to be fixedlysecured to the underlying slide member 698 by any suitable means, suchas, for example, fasteners, not shown, which may be inserted throughholes or apertures 704 formed within the slide plate 700. As can bestbeen seen in FIG. 26, there is disclosed an applicator support plate 706upon which the various components of the adhesive dot applicatorassembly are adapted to be supported. More particularly, it is seen thatthe applicator support plate 706 has a substantially L-shapedconfiguration with the central portion of the long leg 705 of theapplcator support plate 706 accommodating fasteners which passtherethrough so as to engage holes or apertures 708 defined within thecorner regions of the slide plate 700, such fasteners being shown at 710in FIG. 26.

The short leg 712 of the applicator support plate 706 is provided withan aperture 714 which is adapted to accommodate a spindle, not shown, ofan adhesive dot supply roll 716 as can best be seen in FIG. 28, suchthat the adhesive dot supply roll 716 is rotatably mounted upon theapplicator support plate 706. In a similar manner, the central portionof the applicator support plate 706 is also provided with anotheraperture 718, within the vicinity of the fasteners 710, foraccommodating a spindle, not shown, of an adhesive dot backing paper orstrip take-up reel 720 which is also best seen in FIG. 28 and which isalso rotatably mounted upon the applicator support plate 706. FIG. 28also discloses the fact that the adhesive dots 722 are releasablymounted in a serially spaced array upon a backing paper, strip, or thelike 724 wherein, after a series of the adhesive dots 722 are applied tothe palletized load, in a manner similar to the application of theadhesive dots of the first embodiment of the robotic film packaging orwrapping system 300, the backing paper, strip, or the like 724 is takenup by the take-up reel 720. As can also best be appreciated from FIG.28, the substantially L-shaped applicator support plate 706 is alsoprovided with a pair of ears or extensions, the first for-wardlyextending ear or extension 726 having the adhesive dot applicator roller728 rotatably mounted thereon, whereas a transversely extending secondear or extension 730 has an idler roller 732 roatably mounted thereon.

Having described substantially all of the operative components of thethird embodiment robotic film packaging or wrapping system 600, a briefdescription of the operation of the same will now be set forth. When afilm packaging or wrapping operation or cycle is to be commenced, theprogrammable logic controller (PLC) 754 will transmit a START signal tothe robot vehicle 602, and the robot vehicle 602 will begin to commenceits path around the palletized load 652. The programmable logiccontroller (PLC) 754 will receive signals from the drive wheel assemblyof the robot vehicle 602, and will therefore transmit a signal to theapplication actuator 656 at a predetermined time such that theapplication actuator 656 can be fired so as to linearly move the slideassembly comprising the slide plates 660,662, the bottom support plate686, the slide track 694, the slide mechanism 698,700, and theapplicator support plate 706, in the forward direction such that theadhesive dot applicator roller 728 will move into engagement with thepalletized load. As can best be seen in FIG. 20, the predetermined timeat which the application actuator 656 is fired would optimally be atapproximately time at which the robot vehicle 602 would approach thesecond palletized load indicia as noted at 734. In this manner,sufficient surface area of the palletized load 652 is available uponwhich a sufficient number of applicator dots 722 can be applied to thepalletized load 652 in preparation for the leading end of the packagingor wrapping film 543 to be impressed upon and adhered to the adhesivedots 722 secured to the palletized load 652. It is to be noted that whenthe applicator actuator 656 is fired, it will move all of the aforenotedstructural components, that is, the slide assembly comprising the slideplates 660,662, the bottom support plate 686, the slide track 694, theslide mechanism 698,700, the applicator support plate 706, and theadhesive dot applicator roller 728 to the forwardmost position at whichthe adhesive dot applicator roller 728 will engage the palletized load.

However, due to the aforenoted rotary screw drive 664 within the slidehousing 658, the applicator roller 728 does not contact the palletizedload 652 with sufficient force to damage the palletized load 652. Inaddition, it will also be recalled that the slide assembly comprisingthe slide member and the slide plate 698,700 are slidably disposedwithin the slide track 694, and that the applicator roller 728 isfixedly connected or mounted upon the slide member and slide plate698,700 through means of the applicator support plate 706. Accordingly,when the applicator roller 728 encounters the palletized load 652, slidemechanism comprising the slide member and the slide plate 698,700, alongwith the applicator roller 728 as mounted upon the applicator supportplate 706, will tend to move backwardly or away from the palletized load652. In order to effectively prevent this, and to maintain theapplicator roller 728 in engagement with the palletized load 652, it isnoted, as can best be seen in FIGS. 24, 26, and 27, that a plurality ofholes or apertures 736 are provided within a side edge portion of thebottom support plate 686. As can best be seen in FIGS. 26 and 27, ascrew or bolt 738 is disposed within one of the holes or apertures 736,and one end of a coil spring 740 is connected to the bolt or screw 738.The applicator support plate 706 is provided with a dependent lug 742,and a second opposite end of the coil spring 740 is connected to the lug742. In this manner, the retrograde movement of the aforenotedcomponents, including the applicator support plate 706 and theapplicator roller 728, is effectively prevented or at least controlledsuch that engagement of the applicator roller 728 with the palletizedload 652 is maintained. The provision of the plurality of holes orapertures 736 within the side edge portion of the bottom support plate686 permits one to adjust the effective spring biasing force of the coilspring 740.

Continuing further, and with reference being made to FIG. 28, it will beappreciated that as the applicator roller 728 makes contact with thepalletized load 652, the movement of the applicator roller 728 along theside wall of the palletized load will cause the applicator roller torotate. This rotation of the applicator roller 728 will cause theadhesive dots 722 to be applied to the palletized load 652, and at thesame time will cause the adhesive dot supply roll 716 to rotate. Theadhesive dot supply roll 716 is operatively connected to the take-uproll or reel 720 by means of a suitable connector band 744 such that thetake-up roll or reel 720 is rotated in unison with the adhesive dotsupply roll 716. With continued reference being made to FIG. 28, thepurpose of the idler roller 732 is that when the applicator roller 728is rolling along the side wall of the palletized load 652, a spacebetween individual cartons or boxes on the palletized load 652 may beencountered. For example, with reference being made to FIG. 20, twocartons or boxes 746,748 are noted, and there is a small space 750defined between the cartons or boxes 746,748. In order to effectivelyprevent the applicator roller 728 from entering the space 750, or tobecome trapped in such space, the idler roller 732 is engaged with aside wall portion of, for example, the box or carton 748 so as toprevent the applicator roller 728 from entering the space 750 to anylarge extent.

Obviously, many variations and modifications of the present inventionare possible in light of the above teachings. It is therefore to beunderstood that within the scope of the appended claims, the presentinvention may be practiced otherwise than as specifically describedherein.

1. A robot system for wrapping or packaging at least one palletizedload, disposed at at least one film wrapping or packaging station,within wrapping or packaging film, comprising: at least one robot,having a reel of wrapping or packaging film mounted thereon, whereinsaid at least one robot is respectively disposed adjacent to the atleast one palletized load, disposed at the at least one film wrapping orpackaging station, so as to respectively wrap or package the at leastone palletized load within wrapping or packaging film; and an adhesivemember applicator assembly, mounted upon said at least one robot, forapplying at least one adhesive member to the at least one palletizedload such that a leading end portion of said wrapping or packaging filmcan be adhered to the at least one palletized load whereby the at leastone palletized load can be automatically wrapped or packaged, within thewrapping or packaging film, during a wrapping or packaging operationwithout requiring the services of an operator.
 2. The system as setforth in claim 1, further comprising: a programmable logic controller(PLC) operatively connected to said at least one robot, and incommunication with said at least one robot, so as to control said atleast one robot in order to cause said at least one robot to perform afilm wrapping or packaging operation upon the at least one palletizedload.
 3. The system as set forth in claim 2, wherein: said programmablelogic controller (PLC) automatically controls said at least one robotsuch that said at least one robot commences a film wrapping or packagingoperation at a predetermined HOME position, and upon conclusion of saidfilm wrapping or packaging operation, said programmable logic controller(PLC) causes said at least one robot to automatically return to saidHOME position.
 4. The system as set forth in claim 1, wherein: said atleast one robot comprises a multiple number of robots respectivelydisposed adjacent to a multiple number of palletized loads disposed at amultiple number of packaging or wrapping stations; wherein each one ofsaid multiple number of robots has an adhesive member applicatorassembly disposed thereon for respectively applying a leading endportion of a wrapping or packaging film onto a respective one of themultiple number of palletized loads.
 5. The system as set forth in claim4, further comprising: a single programmable logic controller (PLC)operatively connected to all of said multiple number of robots, and incommunication with all of said multiple number of robots, so as tocontrol all of said multiple number of robots in order to cause saidmultiple number of robots to perform film wrapping or packagingoperations upon their respective palletized loads.
 6. The system as setforth in claim 5, wherein: said single programmable logic controller(PLC) controls each one of said multiple number of robots automaticallysuch that each one of said multiple number of robots commences a filmwrapping or packaging operation at a predetermined HOME position, andupon conclusion of said film wrapping or packaging operation, saidprogrammable logic controller (PLC) causes each one of said multiplenumber of robots to automatically return to said HOME position.
 7. Thesystem as set forth in claim 1, wherein: said at least one robot has aforward steering wheel assembly disposed thereon so as to permit said atleast one robot to maintain a substantially circular locus path aroundthe at least one palletized load during a film wrapping or packagingoperation.
 8. The system as set forth in claim 4, wherein: each one ofsaid multiple number of robots has a forward steering wheel assemblydisposed thereon so as to permit each one of said multiple number ofrobots to maintain its substantially circular locus path around each oneof the multiple number of palletized loads during a film wrapping orpackaging operation.
 9. The system as set forth in claim 7, wherein:said substantially circular locus is defined around ther at least onefilm wrapping or packaging station and comprises a member, selected fromthe group comprising a magnetic strip and a particularized paint, whichcan be sensed by said at least one robots as said at least one robottraverses said substantially circular locus.
 10. The system as set forthin claim 8, wherein: said substantially circular locus is defined aroundeach one of the multiple number of film wrapping or packaging stationsand comprises a member, selected from the group comprising a magneticstrip and a particularized paint, which can be sensed by each one ofsaid multiple number of robots as each one of said multiple number ofrobots traverses said substantially circular locus.
 11. The system asset forth in claim 1, wherein: said adhesive member may be selected fromthe group comprising an adhesive dot, an adhesive patch, an adhesivestrip, an adhesive tape, and an adhesive label.
 12. The system as setforth in claim 1, wherein: said adhesive member applicator assemblycomprises a supply roll of tape having a plurality of adhesive membersdisposed upon said tape, an applicator roller around which said tape isdisposed such that said tape, having said plurality of adhesive membersdisposed thereon, can be disposed in contact with the palletized load,and a take-up reel for taking up portions of said tape from which saidplurality of adhesive members have been removed and applied to thepalletized load.
 13. The system as set forth in claim 12, furthercomprising: an actuator for moving said applicator roller into contactwith the palletized load such that at least one of said plurality ofadhesive members, from said supply roll of tape, can be applied to thepalletized load in order to permit said leading end of said wrapping orpackaging film to be adhered to the palletized load when a film wrappingor packaging operation is to be commenced.
 14. The system as set forthin claim 13, further comprising: a cutting implement for severing thepackaging or wrapping film upon the completion of a palletized loadpackaging or wrapping operation whereby a trailing end portion of thepackaging or wrapping film will be formed so as to self-adhere to thepackaged or wrapped palletized load while a leading end portion of thepackaging or wrapping film is also formed in preparation for thecommencement of a new packaging or wrapping operation; and a clampingmember fixedly connected to said cutting implement for clamping theleading end portion of the packaging or wrapping film in preparation forthe commencement of a new packaging or wrapping operation.
 15. Thesystem as set forth in claim 14, further comprising: a first actuatoroperatively connected to said clamping member and said cutting implementfor angularly moving said clamping member and said cutting implement toa first position at which said clamping member and said cuttingimplement can move across the boundary of the packaging or wrapping filmleading from the palletized load to said robot, and a second position atwhich said clamping member and said cutting implement can engage thepackaging or wrapping film leading from the palletized load to saidrobot such that said cutting implement can sever the packaging orwrapping film and thereby form the trailing and leading end portions ofthe packaging or wrapping film while said clamping member can clamp theleading end portion of the packaging or wrapping film in preparation forthe commencement of a new packaging or wrapping operation.
 16. Thesystem as set forth in claim 15, further comprising: a second actuatoroperatively connected to said clamping member and said cutting implementfor moving said cutting implement and said clamping member toward andaway from the packaging or wrapping film such that when said cuttingimplement and said clamping member are moved toward the packaging orwrapping film, said cutting implement severs the packaging or wrappingfilm thereby forming the trailing and leading end portions of thepackaging or wrapping film and said clamping member clamps the leadingend portion of the packaging or wrapping film, while when said cuttingimplement and said clamping member are moved away from the packaging orwrapping film, the leading end portion of the packaging or wrapping filmis able to be released.
 17. The system as set forth in claim 16, furthercomprising: an application pad, across which the leading end portion ofthe packaging or wrapping film is disposed; and a third actuator formoving said application pad into engagement with the palletized loadsuch that the leading end portion of the packaging or wrapping film canbe applied to the adhesive tape affixed to the palletized load.
 18. Thesystem as set forth in claim 15, further comprising: a roller wheelrotatably mounted upon said clamping member for permitting said clampingmember to be rotatably moved between said second and first positions soas not to snag the leading end portion of the packaging or wrapping filmwhen the leading end portion of the packaging or wrapping film is to bereleased from its clamped state after the leading end portion of thepackaging or wrapping film has been applied to the palletized load. 19.The system as set forth in claim 4, further comprising: a metal platedisposed upon a floor region adjacent to each one of the multiple numberof film wrapping or packaging stations; and a proximity sensor disposedupon each one of said multiple number of robots so as to detect saidmetal plate and thereby ensure that each one of said multiple number ofrobots returns to its HOME position at the completion of a packaging orwrapping operation.
 20. The system as set forth in claim 1, furthercomprising: a proximity counter disposed upon said at least one robotfor determining the amount of wrapping or packaging film applied to theat least one palletized load.